/// <summary>
/// Handles incoming SetLED requests
/// </summary>
private IEnumerator <ITask> SetLEDHandler(SetLED message)
{
switch (message.Body.LED)
{
case 0:
if (message.Body.State)
{
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_ON));
}
else
{
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_OFF));
}
break;
case 1:
if (message.Body.State)
{
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_ON));
}
else
{
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_OFF));
}
break;
case 2:
if (message.Body.State)
{
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_ON));
}
else
{
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_OFF));
}
break;
default:
LogError("LED number set incorrect");
break;
}
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// Handles incoming SetLED requests
/// </summary>
private IEnumerator <ITask> SetLEDHandler(SetLED message)
{
if (!_state.Connected)
{
LogError("Trying to set LED, but not connected");
message.ResponsePort.Post(new Fault());
yield break;
}
ScribblerCommand cmd;
switch (message.Body.LED)
{
case 0: //left LED
_state.LEDLeft = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_LEFT_OFF);
}
break;
case 1: //center LED
_state.LEDCenter = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_CENTER_OFF);
}
break;
case 2: //right LED
_state.LEDRight = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_RIGHT_OFF);
}
break;
case 3: //all LEDs
_state.LEDLeft = message.Body.State;
_state.LEDCenter = message.Body.State;
_state.LEDRight = message.Body.State;
if (message.Body.State)
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_ON);
}
else
{
cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_LED_ALL_OFF);
}
break;
default:
LogError("LED number set incorrect");
cmd = new ScribblerCommand();
break;
}
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
}
));
//reply to sender
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}